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b/organize/session_001/left_hand_250801DR48FP25002269/Merged_Trajectory/merge_stats.txt new file mode 100644 index 0000000000000000000000000000000000000000..1ea9db7f7b23b3fce5b0ad4b88282089aeac6271 --- /dev/null +++ b/organize/session_001/left_hand_250801DR48FP25002269/Merged_Trajectory/merge_stats.txt @@ -0,0 +1,27 @@ +轨迹融合统计信息（基于速度的动态融合 / 流式双指针） +============================================================ + +融合配置: + 速度阈值: 1.0 m/s + 时间匹配阈值: 0.01 s + 基准传感器: VIVE (100Hz) + 辅助传感器: SLAM (500Hz) + +融合结果统计: + total_merged: 1460 + averaged: 1460 + use_slam: 0 + use_vive: 0 + both_high: 0 + skipped: 0 + no_match: 0 + +策略占比: + 均值融合: 100.0% + 使用SLAM: 0.0% + 使用VIVE: 0.0% + +生成时间: 2025-12-02 20:51:57 +设备标签: left_hand +XV 序列号: 250801DR48FP25002269 +Vive 序列号: LHR_4C1B2FC6 diff --git a/organize/session_001/left_hand_250801DR48FP25002269/Merged_Trajectory/merged_trajectory.txt b/organize/session_001/left_hand_250801DR48FP25002269/Merged_Trajectory/merged_trajectory.txt new file mode 100644 index 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b/organize/session_001/left_hand_250801DR48FP25002269/Vive_Poses/offset_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..c1fadbc189fb3ec131dcb56244b8196ef7424b3d --- /dev/null +++ b/organize/session_001/left_hand_250801DR48FP25002269/Vive_Poses/offset_info.txt @@ -0,0 +1,15 @@ +Vive 时间戳对齐信息 +============================================================ + +对齐参数: + SLAM 第一帧时间戳: 24098.944005s + Vive 第一帧时间戳: 1764679901.826480s +说明: + - 所有保存的 Vive 数据已使用对齐后的时间戳 + - 时间戳已与 SLAM 数据对齐 + - 坐标已转换到 Gripper 坐标系 + +生成时间: 2025-12-02 20:51:57 +设备标签: left_hand +XV 序列号: 250801DR48FP25002269 +Vive 序列号: LHR_4C1B2FC6 diff --git a/organize/session_001/left_hand_250801DR48FP25002269/Vive_Poses/vive_data_tum.txt b/organize/session_001/left_hand_250801DR48FP25002269/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..7227f9f02241f576bf77ca6d1dff426ed0fc573e --- /dev/null +++ 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a/organize/session_001/right_hand_250801DR48FP25002087/Vive_Poses/offset_info.txt b/organize/session_001/right_hand_250801DR48FP25002087/Vive_Poses/offset_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..916dcd64845f21d9520a33f69b7c54edec04759d --- /dev/null +++ b/organize/session_001/right_hand_250801DR48FP25002087/Vive_Poses/offset_info.txt @@ -0,0 +1,15 @@ +Vive 时间戳对齐信息 +============================================================ + +对齐参数: + SLAM 第一帧时间戳: 24098.945856s + Vive 第一帧时间戳: 1764679901.826269s +说明: + - 所有保存的 Vive 数据已使用对齐后的时间戳 + - 时间戳已与 SLAM 数据对齐 + - 坐标已转换到 Gripper 坐标系 + +生成时间: 2025-12-02 20:51:57 +设备标签: right_hand +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/organize/session_001/right_hand_250801DR48FP25002087/Vive_Poses/vive_data_tum.txt b/organize/session_001/right_hand_250801DR48FP25002087/Vive_Poses/vive_data_tum.txt new file mode 100644 index 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a/organize/session_002/left_hand_250801DR48FP25002269/Vive_Poses/offset_info.txt b/organize/session_002/left_hand_250801DR48FP25002269/Vive_Poses/offset_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..0053327a287de9700c7f505cc7af12634ddd935f --- /dev/null +++ b/organize/session_002/left_hand_250801DR48FP25002269/Vive_Poses/offset_info.txt @@ -0,0 +1,15 @@ +Vive 时间戳对齐信息 +============================================================ + +对齐参数: + SLAM 第一帧时间戳: 24136.312015s + Vive 第一帧时间戳: 1764679939.196642s +说明: + - 所有保存的 Vive 数据已使用对齐后的时间戳 + - 时间戳已与 SLAM 数据对齐 + - 坐标已转换到 Gripper 坐标系 + +生成时间: 2025-12-02 20:52:33 +设备标签: left_hand +XV 序列号: 250801DR48FP25002269 +Vive 序列号: LHR_4C1B2FC6 diff --git a/organize/session_002/left_hand_250801DR48FP25002269/Vive_Poses/vive_data_tum.txt b/organize/session_002/left_hand_250801DR48FP25002269/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..fedb91cdcb29f3d56195f72c324cce6ac22c1ba1 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时间匹配阈值: 0.01 s + 基准传感器: VIVE (100Hz) + 辅助传感器: SLAM (500Hz) + +融合结果统计: + total_merged: 1372 + averaged: 1372 + use_slam: 0 + use_vive: 0 + both_high: 0 + skipped: 0 + no_match: 0 + +策略占比: + 均值融合: 100.0% + 使用SLAM: 0.0% + 使用VIVE: 0.0% + +生成时间: 2025-12-02 20:52:34 +设备标签: right_hand +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/organize/session_002/right_hand_250801DR48FP25002087/Merged_Trajectory/merged_trajectory.txt b/organize/session_002/right_hand_250801DR48FP25002087/Merged_Trajectory/merged_trajectory.txt new file mode 100644 index 0000000000000000000000000000000000000000..10ba954112a58089203cb6c89e15e9f90015f065 --- /dev/null +++ b/organize/session_002/right_hand_250801DR48FP25002087/Merged_Trajectory/merged_trajectory.txt @@ -0,0 +1,1372 @@ +24136.311851025 0.0005737009789510972 -0.0006986634439846422 0.0009339810100639917 -0.00045082104001010733 -0.002816218326841453 -0.005049662089183878 0.9999831831523521 +24136.321690559 0.0005778264346793238 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87.13940566892363 +24184.829344000 87.14854134183487 +24184.834054000 87.13940566892363 diff --git a/organize/session_003/left_hand_250801DR48FP25002269/Merged_Trajectory/merge_stats.txt b/organize/session_003/left_hand_250801DR48FP25002269/Merged_Trajectory/merge_stats.txt new file mode 100644 index 0000000000000000000000000000000000000000..ae96a4a935aaac5ca98f3f9eb085028fb0062ece --- /dev/null +++ b/organize/session_003/left_hand_250801DR48FP25002269/Merged_Trajectory/merge_stats.txt @@ -0,0 +1,27 @@ +轨迹融合统计信息（基于速度的动态融合 / 流式双指针） +============================================================ + +融合配置: + 速度阈值: 1.0 m/s + 时间匹配阈值: 0.01 s + 基准传感器: VIVE (100Hz) + 辅助传感器: SLAM (500Hz) + +融合结果统计: + total_merged: 1333 + averaged: 1333 + use_slam: 0 + use_vive: 0 + both_high: 0 + skipped: 0 + no_match: 0 + +策略占比: + 均值融合: 100.0% + 使用SLAM: 0.0% + 使用VIVE: 0.0% + +生成时间: 2025-12-02 20:53:08 +设备标签: left_hand +XV 序列号: 250801DR48FP25002269 +Vive 序列号: LHR_4C1B2FC6 diff --git 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a/organize/session_003/left_hand_250801DR48FP25002269/Vive_Poses/offset_info.txt b/organize/session_003/left_hand_250801DR48FP25002269/Vive_Poses/offset_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..3dfe554324774b031ea0f9816abf9a756cd001d2 --- /dev/null +++ b/organize/session_003/left_hand_250801DR48FP25002269/Vive_Poses/offset_info.txt @@ -0,0 +1,15 @@ +Vive 时间戳对齐信息 +============================================================ + +对齐参数: + SLAM 第一帧时间戳: 24171.508006s + Vive 第一帧时间戳: 1764679974.386312s +说明: + - 所有保存的 Vive 数据已使用对齐后的时间戳 + - 时间戳已与 SLAM 数据对齐 + - 坐标已转换到 Gripper 坐标系 + +生成时间: 2025-12-02 20:53:08 +设备标签: left_hand +XV 序列号: 250801DR48FP25002269 +Vive 序列号: LHR_4C1B2FC6 diff --git a/organize/session_003/left_hand_250801DR48FP25002269/Vive_Poses/vive_data_tum.txt b/organize/session_003/left_hand_250801DR48FP25002269/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..974eeeefbb52413dc3258aad2cb8d1d183f3081f 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a/organize/session_003/right_hand_250801DR48FP25002087/Vive_Poses/offset_info.txt b/organize/session_003/right_hand_250801DR48FP25002087/Vive_Poses/offset_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..8cfeae94fa96831eb7d92e88083ba4b2baea93b8 --- /dev/null +++ b/organize/session_003/right_hand_250801DR48FP25002087/Vive_Poses/offset_info.txt @@ -0,0 +1,15 @@ +Vive 时间戳对齐信息 +============================================================ + +对齐参数: + SLAM 第一帧时间戳: 24171.507853s + Vive 第一帧时间戳: 1764679974.386189s +说明: + - 所有保存的 Vive 数据已使用对齐后的时间戳 + - 时间戳已与 SLAM 数据对齐 + - 坐标已转换到 Gripper 坐标系 + +生成时间: 2025-12-02 20:53:08 +设备标签: right_hand +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/organize/session_003/right_hand_250801DR48FP25002087/Vive_Poses/vive_data_tum.txt b/organize/session_003/right_hand_250801DR48FP25002087/Vive_Poses/vive_data_tum.txt new file mode 100644 index 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0000000000000000000000000000000000000000..bb5379b0ea81019e5cc2fb6ebe0c68e411d14ef3 --- /dev/null +++ b/organize/session_004/left_hand_250801DR48FP25002269/Merged_Trajectory/merge_stats.txt @@ -0,0 +1,27 @@ +轨迹融合统计信息（基于速度的动态融合 / 流式双指针） +============================================================ + +融合配置: + 速度阈值: 1.0 m/s + 时间匹配阈值: 0.01 s + 基准传感器: VIVE (100Hz) + 辅助传感器: SLAM (500Hz) + +融合结果统计: + total_merged: 1408 + averaged: 1408 + use_slam: 0 + use_vive: 0 + both_high: 0 + skipped: 0 + no_match: 0 + +策略占比: + 均值融合: 100.0% + 使用SLAM: 0.0% + 使用VIVE: 0.0% + +生成时间: 2025-12-02 20:53:36 +设备标签: left_hand +XV 序列号: 250801DR48FP25002269 +Vive 序列号: LHR_4C1B2FC6 diff --git a/organize/session_004/left_hand_250801DR48FP25002269/Merged_Trajectory/merged_trajectory.txt b/organize/session_004/left_hand_250801DR48FP25002269/Merged_Trajectory/merged_trajectory.txt new file mode 100644 index 0000000000000000000000000000000000000000..f3197fa1fb1aff608fd9abfaceee5c4c524cfa4f --- /dev/null +++ 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file mode 100644 index 0000000000000000000000000000000000000000..4aa4cf403b696bf6adca399a7b3136ddf199b14a --- /dev/null +++ b/organize/session_004/left_hand_250801DR48FP25002269/Vive_Poses/offset_info.txt @@ -0,0 +1,15 @@ +Vive 时间戳对齐信息 +============================================================ + +对齐参数: + SLAM 第一帧时间戳: 24198.858056s + Vive 第一帧时间戳: 1764680001.746430s +说明: + - 所有保存的 Vive 数据已使用对齐后的时间戳 + - 时间戳已与 SLAM 数据对齐 + - 坐标已转换到 Gripper 坐标系 + +生成时间: 2025-12-02 20:53:36 +设备标签: left_hand +XV 序列号: 250801DR48FP25002269 +Vive 序列号: LHR_4C1B2FC6 diff --git a/organize/session_004/left_hand_250801DR48FP25002269/Vive_Poses/vive_data_tum.txt b/organize/session_004/left_hand_250801DR48FP25002269/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..ce9cae827c27179d8722c260c77336509307f35b --- /dev/null +++ b/organize/session_004/left_hand_250801DR48FP25002269/Vive_Poses/vive_data_tum.txt @@ -0,0 +1,1408 @@ +24198.858056068 -0.0014603298285795485 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b/organize/session_004/right_hand_250801DR48FP25002087/Merged_Trajectory/merge_stats.txt @@ -0,0 +1,27 @@ +轨迹融合统计信息（基于速度的动态融合 / 流式双指针） +============================================================ + +融合配置: + 速度阈值: 1.0 m/s + 时间匹配阈值: 0.01 s + 基准传感器: VIVE (100Hz) + 辅助传感器: SLAM (500Hz) + +融合结果统计: + total_merged: 1408 + averaged: 1408 + use_slam: 0 + use_vive: 0 + both_high: 0 + skipped: 0 + no_match: 0 + +策略占比: + 均值融合: 100.0% + 使用SLAM: 0.0% + 使用VIVE: 0.0% + +生成时间: 2025-12-02 20:53:37 +设备标签: right_hand +XV 序列号: 250801DR48FP25002087 +Vive 序列号: LHR_B728E669 diff --git a/organize/session_004/right_hand_250801DR48FP25002087/Merged_Trajectory/merged_trajectory.txt b/organize/session_004/right_hand_250801DR48FP25002087/Merged_Trajectory/merged_trajectory.txt new file mode 100644 index 0000000000000000000000000000000000000000..da8c30ecfab0be1a54f1f2119afe9f05db54297c --- /dev/null +++ b/organize/session_004/right_hand_250801DR48FP25002087/Merged_Trajectory/merged_trajectory.txt @@ -0,0 +1,1408 @@ 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b/organize/session_005/left_hand_250801DR48FP25002269/Vive_Poses/offset_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..9b9d8d3a944ee03cc3006f6c564ec63ece4850a2 --- /dev/null +++ b/organize/session_005/left_hand_250801DR48FP25002269/Vive_Poses/offset_info.txt @@ -0,0 +1,15 @@ +Vive 时间戳对齐信息 +============================================================ + +对齐参数: + SLAM 第一帧时间戳: 24226.296011s + Vive 第一帧时间戳: 1764680029.176335s +说明: + - 所有保存的 Vive 数据已使用对齐后的时间戳 + - 时间戳已与 SLAM 数据对齐 + - 坐标已转换到 Gripper 坐标系 + +生成时间: 2025-12-02 20:54:03 +设备标签: left_hand +XV 序列号: 250801DR48FP25002269 +Vive 序列号: LHR_4C1B2FC6 diff --git a/organize/session_005/left_hand_250801DR48FP25002269/Vive_Poses/vive_data_tum.txt b/organize/session_005/left_hand_250801DR48FP25002269/Vive_Poses/vive_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..94d1c3b6b4121523da8f1797284fefd4bbc871dc --- /dev/null +++ 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